Robot with a line guidance device

ABSTRACT

The subject matter of the invention concerns a robot with at least one conductor guiding apparatus ( 1 ) running at least partially on the outside, in which guiding apparatus conductors, hoses or similar are guided. The conductor guiding apparatus ( 1 ) has at least one spatially deflectable section formed by members ( 4 ) each having a central body ( 5 ) through which a flexible linking element ( 6 ) extends. The members ( 4 ) form a channel ( 9 ) for accommodating supply conductors.

The subject matter of the invention concerns a robot with at least oneconductor guiding apparatus running at least partially on the outside,in which guiding apparatus conductors, hoses or similar are guided.

The designation robot refers in particular to industrial robots, asused, for instance, in automated car manufacturing. In principle, in thebroader sense, any handling device is also meant by this, and inparticular such as are conceived for industrial use.

In the case of a robot, conductors, hoses or similar, hereinafter knownas supply conductors serve to supply the tool arranged at the robothand.

For the guiding of the supply conductors, sleeve hoses are used. Thesupply conductors are laid within the sleeve hose. The sleeve hose isguided at least partially on the outside of the robot. It is known thatthe sleeve hose is attached to the robot itself, whereby the attachmentof the sleeve hose takes place in a manner such that the sleeve hose mayfollow the movement of the robot, particularly of the robot hand. Such adesign of the robot with a conductor guiding apparatus running at leastpartially on the outside in which conductor guiding apparatusconductors, hoses or similar are guided is known from the publicationDE20113950U1.

From the printed publication DE210696U1, a device for attachment ofcables of a sleeve hose is known. The supply conductors of a robot areguided within the sleeve hose. The device is distinguished in that thesleeve hose is held axially fixed and a cable nut holding the cables inforce-fitting manner is held fixed axially and in rotation-proof mannerin a clamp.

With regard to the guiding of supply conductors, a hose guide in thebase of a robot is also known from the Utility Model publicationDE20008054U1. The hose guide has a hose with a lower and an upper hosearm linked to each other via a bent hose head. The upper hose is guidedoffset in the horizontal direction relative to the lower hose arm. Dueto the horizontal offset of the upper hose arm relative to the lowerhose arm, it is to be achieved that the hose head linking these two isinclined to the vertical and this results in a low belly height. It isalso achieved that the hose head no longer rubs along the base wall andthe resultant wear is thereby removed.

Due to the movement of the robot, a corresponding movement of the sleevehose takes place. Since the conductors, hoses or similar fed through thesleeve hose are arranged outside the neutral limit, a relative movementtakes place between the conductors. During this relative movement, theconductors, hoses and similar rub against each other and this isassociated with wear. This wear can cause destruction of the supplyconductors, leading to failure of the robot. In order to avoid this, itis known that the supply conductors are laid within a lubricating mediuminside the sleeve hose, as described in the article“Schlauchpaketlösungen” [Hose Package Solutions] in KEM, special volume2, Aug. 2001.

A problematic factor in such a solution is the fact that the total massof the sleeve hose and the supply conductors significantly increases.Furthermore, in situ repair is not possible or only with significantdifficulty. However, in order not to have to interrupt the productionprocess for long, suitable sleeve hoses are therefore supplied as spareparts with the supply conductors provided for the robot in question.This leads to a not insignificant level of investment expenditure.

Filling with the lubricant and the conductors makes it necessary for thesleeve hose to have a minimum load capacity. In order to increase theminimum load capacity of the sleeve hose, it is necessary to design itcorrespondingly rigid, which corresponds to the contrary requirement formobility of the sleeve hose during operation of the robot.

Based on this starting point, the present invention is based in the aimof providing a robot in which supply conductors are securely andreliably guided without the operation of the robot being impaired.

This aim is fulfilled by a robot with the features of Claim 1.Advantageous further developments and embodiments are the subject matterof the respective dependent claims.

The robot according to the invention with at least one conductor guidingapparatus at least partially running on the outside, in which apparatusconductors, hoses or similar are guided, is distinguished in that theconductor guiding apparatus has at least one spatially deflectablesection formed by members each having a central body through which aflexible linking element extends. The members form a channel foraccommodating conductors, hoses or similar.

By means of this design of the robot according to the invention, thepossibility of secure and reliable guiding of supply conductors isprovided. The supply conductors are guided in the channel formed by themembers. The members are linked with a flexible linking element, so thatthis flexible linking element substantially absorbs the forces arisingduring operation of a robot which act upon the conductor guidingapparatus. By means of this design according to the invention of theconductor guiding apparatus on the robot, a substantially functionaldecoupling between the uptake of forces and the guiding of the supplyconductors is achieved.

According to an advantageous further development of the robot, it isproposed that adjacent members be linked to each other in form-fittingmanner. Form-fitting is sufficient to achieve a secure holding togetherof the members, since the flexible linking element absorbs the actualforce acting on the conductor guiding apparatus.

In order to realise a spatially deflectable section of the conductorguiding apparatus, it is proposed that at least two adjacent membersshould be linked together via a ball joint. The advantage of the designof a ball joint as linking element between two adjacent members is thatthe adjacent members are spatially deflectable, whereby the design ofthe ball joint as such is simple from the design standpoint.

According to a further advantageous embodiment of the robot, it isproposed that means should be provided through which the spatialdeflection of the conductor guiding apparatus is limited. The extent ofthe limitation is adapted to the movement of the robot.

The means by which the spatial deflection is limited preferably comprisea stop and at least one counterstop. In particular, it is proposed thatthe at least one stop be formed by a projection directed radiallyoutwards, said projection engaging in a recess.

In order to reduce the assembly effort for formation of the conductorguiding apparatus and to ensure the function of the conductor guidingapparatus, according to a still further advantageous embodiment of therobot, it is proposed that the at least one projection is formed on thejoint body and the recess is formed in the joint socket. If the jointconnection between two adjacent members is a ball joint, it isadvantageous if the projection is formed on the ball head and the recessis formed in the joint socket.

In order to ensure that the loading of the stop and of the counterstopare not excessive, it is proposed that at least two projections areprovided, arranged equidistant from each other.

The conductors, hoses or similar fed through the conductor guidingapparatus are guided in a channel formed by the members. Preferred is adesign of the channel which is achieved in that the central body isprovided with at least one web joined to one wall, whereby the wall andthe central body delimit a channel.

If a plurality of webs are provided, the channel may be divided into aplurality of partial channels in which individual or a plurality ofconductors, hoses or similar are guided.

According to another advantageous embodiment, it is proposed that thewall which partially delimits the channel has at least one gap extendingin the longitudinal direction of the central body. By means of thismeasure, the possibility is created of introducing a conductor throughthe gap into the channel. The possibility also exists of removing aconductor from the channel through the gap. This has the advantage thata repair-facilitating design of the conductor guiding apparatus isachieved.

In order to protect the conductors that are guided in the conductorguiding apparatus, it is advantageous that the wall is so designed thatsections of the walls of two adjacent members overlap each other. Bythis means, an at least partially closed conductor guiding apparatus isachieved.

In order to attach the conductor guiding apparatus to a robot, holdersare provided. Preferably the holders have a clamp-like design, wherebythese interact with the wall of a member. The attachment of a member ina holder may be in form-fitting or force-fitting manner.

From DE20112491U1, a robot with a conductor guiding apparatus is known.In the region of the base, this robot has a basket in which one or moreloops of the conductor guiding apparatus are laid. From the utilitymodel DE20008054U1, it is known that the robot has a conductor guidingapparatus in the base region having a lower and an upper hose armconnected to each other with a bent hose head. The upper hose is guidedoffset relative to the lower hose arm offset in the horizontaldirection.

A robot according to the invention is proposed having at least oneconductor guiding apparatus at least partially running on the outside,in which apparatus conductors, hoses or similar are guided, inparticular, according to one of the claims 1 to 14, with an apparatusfor guiding and storing the conductor guiding apparatus in the base ofthe robot, whereby the apparatus has a guiding region formed in a firstplane and storage region formed in a second plane different from thefirst plane.

In particular, it is proposed that the robot have a guiding region lyingin a substantially horizontal plane. By means of this guide channel, asimplified and secure guidance of the conductor guiding apparatus isachieved.

According to a further proposal, the planes in which the guiding regionand the storage region lie subtend an angle of up to 90° to each other.Preferable in this regard is a design in which the storage region liesin a substantially vertical plane.

The guiding region is preferably designed in the form of a channel, bymeans of which a secure and reliable guiding of the conductor guidingapparatus is achieved. This is particularly advantageous if the robot isrotated about an axis substantially perpendicular to the plane of theguiding region.

The form of the guiding region is, in particular, so designed that itcorresponds to the movement of the robot. In particular, the guidingregion is arc-shaped and, in particular, in the form of a partialcircle, preferably annular.

In order to design the storage region as compactly as possible, in orderthus to reduce the space requirement, it is proposed that the conductorguiding apparatus have an upper strand and a lower strand, whereby theupper strand and the lower strand are linked to each other by a curvedregion.

The end of the lower strand is arranged in fixed position. In order tosimplify exchange of the conductor guiding apparatus, it is proposedthat the guiding region and the storage region be releasably joined toeach other. This opens up the possibility of removing the storage regionin order thus to reach the locally fixed connection of the conductorguiding apparatus. A further advantage of the releasable connectionbetween the guiding region and the storage region may be seen thereinthat storage regions of different storage volumes are provided, to whichthe requirements of the robot are adapted.

In order to influence the movement sequence of the robot through theconductor guiding apparatus as little as possible and in order to reducethe forces acting on the conductor guiding apparatus as much aspossible, it is proposed that between the guiding region and the storageregion, a transition region be provided which allows frictionlessexecution of the movements.

According to a further advantageous embodiment of the robot, it isproposed that the guiding region, the storage region and/or thetransition region are at least partially designed as formed parts and,in particular, as sheet metal formed parts.

The members of the conductor guiding apparatus are preferably designedin a single part. In particular, it is proposed that the members areinjection moulded parts. Depending on usage, the members may be madefrom plastics or from fibre-reinforced plastics. The conductor guidingapparatus may be made deep with members as a metal chamber, inparticular, made of a light metal.

Further details and advantages of the invention will now be describedbased upon the embodiments illustrated in the drawings. However, thesubject matter of the invention is not restricted to these embodiments.The drawings show the following:

FIG. 1 shows a robot with a conductor guiding apparatus,

FIG. 2 shows a perspective view of a section of a conductor guidingapparatus,

FIG. 3 shows, in perspective, a member of the conductor guidingapparatus according to FIG. 2 in a front view,

FIG. 4 shows the member of the conductor guiding apparatus according toFIG. 2 in a back view,

FIG. 5 shows a further embodiment of a conductor guiding apparatus in aperspective view from the front,

FIG. 6 shows the member according to FIG. 5 in a perspective view frombehind,

FIG. 7 shows a third embodiment of a member of a conductor guidingapparatus in a perspective view from the front,

FIG. 8 shows the member according to FIG. 7 in a perspective view frombehind,

FIG. 9 shows, in perspective, a holder in the opened condition forattaching the conductor guiding apparatus to a robot,

FIG. 10 shows, in perspective, the closed holder,

FIG. 11 shows schematically an apparatus for guiding and storing aconductor guiding apparatus in the base region of a robot in a frontview,

FIG. 12 shows the apparatus for guiding and storing the conductorguiding apparatus according to FIG. 11 in a perspective view,

FIG. 13 shows a part of the apparatus according to FIG. 11 inperspective,

FIG. 14 shows a second embodiment of an apparatus for guiding andstoring a conductor guiding apparatus in the base region of a robot in afront view,

FIG. 15 shows, in perspective, the apparatus according to FIG. 14,

FIG. 16 shows a side view from the right side of the apparatus accordingto FIG. 14,

FIG. 17 shows a plan view of the apparatus according to FIG. 14,

FIG. 18 shows, in perspective, in a view from obliquely above, a robotwith an apparatus according to

FIG. 14 in a first position, and

FIG. 19 shows, seen in perspective from obliquely above, a robot with anapparatus according to FIG. 14 in a second position.

FIG. 1 shows schematically a known robot in a side view with a conductorguiding apparatus running on the outside. In the conductor guidingapparatus, conductors, hoses or similar which serve to supply the robotor the robot tool are guided. The conductors guided in the conductorguiding apparatus 1 are denoted with the reference number 3.

The conductor guiding apparatus 1 is attached to the robot with holders2. The arrangement of the holders and/or the number of holders may vary.However, it must always be ensured that destruction of the conductorguiding apparatus through the movement of the robot does not occur.

FIG. 2 shows schematically the design of a conductor guiding apparatus 1in which conductors, hoses or similar are guided. For reasons ofclarity, the illustration in FIG. 2 does not include such conductors,hoses or similar. The guiding apparatus 1 comprises members 4 joined toeach other in articulated fashion. The members 4 each have a centralregion 5 through which a flexible linking element 6 extends.

The flexible linking element may, for instance, be a rope made of metal,formed from a plurality of filaments.

The conductors, hoses or similar are guided in a channel 9. In theembodiment shown, the conductor guiding apparatus 1 has three channels9, each of which may be loaded with a conductor from outside through agap 10. The gap 10 is so dimensioned that during operation of theconductor guiding apparatus, conductors cannot escape from the channel9.

In FIGS. 3 and 4, a member 4 of the conductor guiding apparatus 1, asrepresented in FIG. 2, is shown. The member 4 has a central body 5. Thecentral body 5 contains a passageway 11 extending in the longitudinaldirection of the central body, through which the flexible linkingelement 6 is fed.

On the outer jacket of the central body 5, in the embodiment shown,three webs 8 are provided. The webs 8 are arranged equidistant from eachother seen in the circumferential direction of the central body 5.

Joined to every web 8 is a wall 7 which is designed partially circular.The walls 7 lie on an imaginary circumferential circle. Between twoadjacent walls 7, a gap 10 is formed. A conductor may be introducedthrough the gap 10 into the channel 9 or removed from it. The thicknessof the wall 7 decreases from the web 8 in the direction of the gap 10.Due to the curvature of the wall and the decrease in material thickness,an end region of the wall 7 is flexible, whereby the bending forcenecessary in order to bend the end region in the direction of thecentral body 5 is smaller than the force required to bend this endregion away from the central body 5. By means of this measure, it isalso ensured that during operation of the robot, conductors do not comeout of the channel 9 unintentionally.

The conductor guiding apparatus is spatially deflectable. To this end,the members have suitably designed joints. As may be seen from theillustrations in FIGS. 3 and 4, two adjacent members may be linked toeach other via a ball joint. To this end, on one end of the central body5, a spherical joint body 12 is formed. On the opposing end of thecentral body 5, a correspondingly designed joint socket 13 is provided.

The member 4 has means in order to delimit the spatial deflection. Thesemeans comprise three stops in the embodiment illustrated. The stops areformed by projections 14 directed radially outwards. The projections 14are formed on the joint body 12 and are distributed equidistant fromeach other over the joint body 12. In the embodiment illustrated, theprojections 14 give way to the webs 8.

The joint socket 13 has three recesses 15 into which the projections 14engage when two members are linked to each other. The rotation angle maybe determined through the design of the projections 14 and the form ofthe recesses 15. The possibility exists that the conductor guidingapparatus has different deflection angles in different sections, so thatsaid apparatus is adapted to the movement of the robot.

In FIG. 2, the conductor guiding apparatus 1 is built up from members 4having walls 7 whose width is smaller than the width of the centralbodies 5, so that free spaces 16 exist between the walls 7 of adjacentchain members. In order to provide a substantially closed conductorguiding apparatus for a robot, the conductor guiding apparatus may beconstructed of individual members as shown in FIGS. 5 and 6. The basicdesign of the member 4 is shown in FIGS. 5 and 6. The membersubstantially corresponds to the design of a member 4 as shown in FIGS.3 and 4.

The member shown in FIGS. 5 and 6 has a surrounding wall 7. The wall 7has a substantially cone-shaped section 17 narrowing from one end face18 in the direction of the opposing end face 19. Formed at a separationfrom the end face 19 is a section 20 of the wall 7. The section 20 isdesigned arched.

The webs 8 which connect the wall 7 to the central body 5 are separatedfrom the end face 18 and from the end face 19.

If two members as represented in FIG. 5 or FIG. 6 are linked to eachother, the section 20 engages in the space delimited by the section 19,so that in the extended position of the members, a closed channel isformed. The section 20 is designed such that it permits spatialdeflection of two members linked to one another. The further design ofthe member according to FIG. 5 or FIG. 6 corresponds to the design ofthe member according to FIGS. 3 and 4.

FIGS. 7 and 8 show a derivation of the member shown in FIGS. 5 and 6.The difference between the member according to FIGS. 7 and 8 and themember according to FIGS. 5 and 6 consists therein that the wall 7 issubdivided by gaps 10. This provides the possibility of introducingconductors into the members through the gaps 10.

In order to attach the conductor guiding apparatus to the robot, holders2 are provided. A preferred embodiment of the design of a holder 2 isshown in FIGS. 9 and 10. The holder 2 is substantially designedclamp-shaped. It has a base body 21 having a receptacle 22. The basebody 21 may be attached via attachment means to the robot, which is notshown. By means of a joint 23, the base body 21 is linked to a closingbody 24. The closing body also has a receptacle 25. In the closedcondition of the holder 2, a member 4 lies within the receptacle 22, 25,whereby the holder 2 is linked to the member 4 in form-fitting and/orforce-fitting manner.

The base body 21 and the closing body 24 have brackets 26 each of whichis designed with a bore 27. In the closed condition of the holder 2, thebrackets lie one behind the other, whereby the bores 27 are coaxial witheach other. By means of a bolt 28, the bodies 21, 24 are linked to eachother, whereby the bolt 28 extends into the openings 27. The free end ofthe bolt 28 is designed such that it enters into a latching connectionwith one of the brackets. The joint 23 is also correspondingly designedso that the holder 2 may optionally be opened from the one or the otherside.

FIG. 11 shows a base 29 of a robot. In the region of the base 29, adevice 30 for guiding and storing a conductor guiding apparatus 1 isformed. The apparatus has a guiding region 31 formed in a first planeand a storage region 32 formed in a second plane different from thefirst plane.

In the embodiment shown, the guiding region 31 is substantially formedin a horizontal plane. The storage region 32 is formed in asubstantially vertical plane.

FIG. 12 shows that the guiding region is designed in the form of achannel. In the embodiment shown, the guiding region 31 surrounds thebase 29 over its entire circumference. This is not absolutely necessary.The storage region 32 is substantially formed box-shaped.

Between the guiding region 31 and the storage region 32, a transitionregion 33 is formed. Within the transition region 33 there is thepossibility, dependent upon the movement of the robot, that theconductor guiding apparatus (not shown) is introduced into the guidingregion either in the clockwise direction or the anticlockwise direction,as indicated by the arrows in FIG. 12. The guiding region, the storageregion and/or the transition region are at least partially designed asformed parts and, in particular, as sheet metal formed parts. In aperspective view, FIG. 13 shows part of the guiding region 31 and of thetransition region 33. A mirror axis is drawn in dashed, so that theguiding region and the storage region may be designed as mirror images.

For the formation of a radius of curvature for the conductor guidingapparatus, a circular insert 34 is arranged in the storage region 32, asis apparent from FIG. 11.

FIGS. 14 to 17 show a further embodiment of the apparatus for guidingand storage of a conductor guiding apparatus in the base of a robot. Theapparatus has a guiding region 31 which in the embodiment shownpartially surrounds the base 29 of the robot. The guiding region 31 isformed U-shaped in cross-section. The floor 35 of the guiding region 31rises in helical manner. The guiding region 31 is linked to the storageregion 32. The storage region 32 has a wall 36 in the form of atruncated cone. An L-shaped border 37 is connected to the wall 36. Inthe embodiment shown, the guiding region 31 surrounds the base over anangle of approximately 180°. The storage region 32 also surrounds thebase over an angle of approximately 180°.

FIGS. 18 and 19 show snapshots of the position of a robot. The robot hasa base 29 which is surrounded by a device 30 for guiding and storage ofa conductor guiding apparatus 1. The robot is attached by means of adriver 38 to one end of the conductor guiding apparatus 1. The opposingend 39 of the conductor guiding apparatus 1 is arranged in fixedposition.

FIG. 18 shows the conductor guiding apparatus 1 in the storage region32. The lower strand of the conductor guiding apparatus lies in theborder 37 and against the wall 36. The curved bend region of theconductor guiding apparatus which lies between the lower strand and theupper strand, lies against the wall 36. The conductor guiding apparatus1 is preferably designed such that with a suitable design of the jointedconnections between the members of the conductor guiding apparatus, thebent region of the conductor guiding apparatus always comes to lieagainst the wall 36, so that an additional cover which couldsimultaneously serve as guidance may be dispensed with. However, this isnot necessarily required. Such a cover may also be suitable for safetyreasons.

FIG. 19 shows a snapshot in which the robot with the driver 38 isrotated such that the driver 38 with the conductor guiding apparatus 1reaches the guiding region 31. The conductor guiding apparatus is guidedinto the guiding region 31. Through the design of the apparatus forguiding and storage of the conductor guiding apparatus, the possibilityis created that the robot with the driver 38 may cover a circumferentialangle of up to 360°.

REFERENCE NUMBER LIST

1 Conductor guiding apparatus

2 Holder

3 Conductor

4 Member

5 Central region

6 Linking element

7 Wall

8 Web

9 Channel

10 Gap

11 Passageway

12 Joint body

13 Joint socket

14 Projection

15 Recess

16 Free space

17 Section

18 End face

19 End face

20 Section

21 Base body

22 Receptacle

23 Joint

24 Closing body

25 Receptacle

26 Bracket

27 Opening

28 Bolt

29 Base

30 Apparatus

31 Guiding region

32 Storage region

33 Transition region

34 Insert

35 Floor

36 Wall

37 Border

38 Driver

39 End of the conductor guiding apparatus

1. (canceled)
 2. The robot according to claim 25, wherein adjacentmembers are linked in form-fitting manner to each other.
 3. The robotaccording to claim 25, wherein at least two adjacent members are linkedto each other by a ball joint.
 4. The robot according to claim 25, andfurther comprising a spatial deflection limiting mechanism.
 5. The robotaccording to claim 4, wherein the spatial deflection limiting mechanismcomprises at least one stop connected to a first member and at least onecounterstop connected to a second member disposed adjacent to the firstmember.
 6. The robot according to claim 5, wherein at least one stop isformed by a projection directed radially outwards, said projectionengaging in a recess on an adjacent member to limit spatial deflection.7. The robot according to claim 6, wherein at least one projection isformed on a joint body and the recess is formed in a joint socket. 8.The robot according to claim 6 wherein the stop comprises at least twoprojections are provided, joined to a member and arranged substantiallyequidistant from each other.
 9. The robot according to one of the claim25, wherein the central body comprises at least one web linked to awall, whereby the wall and the central body define the channel.
 10. Therobot according to claim 9, wherein the has at least one gap extendingin the longitudinal direction of the central body.
 11. The robotaccording to claim 9 wherein sections of the walls of two adjacentmembers overlap each other.
 12. The robot according to claim 25 andfurther comprising holders attaching the conductor guiding apparatus tothe robot.
 13. The robot according to claim 12, wherein the holders areclamps that are shaped for securing the wall of a member.
 14. The robotaccording to claim 12 wherein the holder is linked to a member in aform-fitting manner.
 15. The robot according to of claim 25, and furthercomprising an apparatus for guiding and storing the conductor guidingapparatus in the robot, wherein the apparatus has a guiding regionformed in a first plane and a storage region formed in a second planeand the second plane is formed separately from the first plane.
 16. Therobot according to claim 15, wherein the guiding region lies in asubstantially horizontal plane.
 17. The robot according to claim 15wherein the first and second planes lie at an angle of up to 90° to eachother.
 18. The robot according to claim 15 wherein the storage regionlies in a substantially vertical plane.
 19. The robot according to claim15 wherein the guiding region defines a channel.
 20. The robot accordingto claim 15 wherein the guiding region is arc-shaped.
 21. The robotaccording to claim 15 wherein the storage region receives the conductorguiding apparatus to define an upper strand and a lower strand in thestorage region.
 22. The robot according to claim 15 wherein the guidingregion and the storage region are detachably linked to each other. 23.The robot according to claim 15 wherein the guiding region and thestorage region have disposed there between a transition region.
 24. Therobot according to claim 15 wherein the guiding region, the storageregion or the transition region are at least partially formed as moldedparts.
 25. A robot having a conductor guiding apparatus for guidingconductors, hoses and the like, the conductor guiding apparatuscomprising: a plurality of members, each member having a central bodyand defining a conductor channel; and a flexible linking elementextending through the central body of the members to join the memberstogether for movement relative to one another.